Automatic pool cleaner with edge engagement assembly

ABSTRACT

An autonomous pool cleaner includes a main body, a filter that is removably coupled to the main body, and an edge engagement assembly. The main body includes a top, a bottom, and one or more peripheral walls that extend between the top and the bottom. The filter is accessible for removal or installation via a particular peripheral wall of the one or more peripheral walls. The edge engagement assembly is configured to extend beyond the particular peripheral wall of the main body and removably secure the autonomous pool cleaner to an edge of a swimming pool so that the filter is accessible and vertically removable when the autonomous pool cleaner is secured to the edge.

FIELD OF INVENTION

The present invention relates to the field of swimming pool cleanersand, in particular, to a swimming pool cleaner, such as a robotic and/ormotorized pool cleaner, with a filter that is installable and removablevia a peripheral wall of the pool cleaner and features that facilitatein-water installation and removal of the same.

BACKGROUND

In order to automate pool cleaning, many motorized or automatic poolcleaners have been developed. There are many different types of swimmingpool cleaners; however, typically, motorized pool cleaners (which aresometimes also referred to as pool cleaning robots and may beinterchangeably referred to herein as pool cleaners, autonomous poolcleaners, pool cleaning robots, and other such variations) use a pump orsuction system to clean a pool. The pump or suction system draws acombination of water and dirt/debris, via an intake, into a filterincluded or installed in the pool cleaner, such as a filter bag orfilter box, that is configured to capture the dirt/debris, therebycleaning the pool water. In some instances, a pool cleaning robot mayinclude cleaning brushes or pressurized jets to dislodge debris frompool surfaces so that the dislodged dirt/debris can be drawn into thefilter (via the intake) by the suction of the pump system. As anexample, U.S. Pat. No. 8,434,182, which is incorporated by referenceherein in its entirety, discloses an autonomous pool cleaner with highpressure cleaning jets that dislodge dirt/debris from pool surfaces sothat the dirt/debris can be drawn into and captured in a filter bag (dueto suction created by a pump system).

Since filters (e.g., a filter bag or box) collect debris, filters mustbe periodically serviced (e.g., cleaned, replaced, etc.). In someinstances, a pool cleaning robot may exit a pool automatically for thisservicing; however, more commonly, an end user must remove the poolcleaner from the pool in order to service the filter. In some of theselatter instances, the pool cleaner may be programmed or instructed tomove to a water line of a pool. In other instances, an end user needs tomove (e.g., pull) the pool cleaner to the water line from a bottom ofthe pool (e.g., by pulling on a tether to bring the pool cleaning robotto the water line). Either way, the geometry, buoyancy, and/orprogramming of most pool cleaners causes the front of the pool cleanerto arrive at the water line first.

Unfortunately, most pool cleaners include filters that are onlyaccessible from a top of the pool cleaner. Thus, once a pool cleaner isat the water line, an end user usually needs to lean or bend towards thewater line and lift the water-logged pool cleaner from the water (withwater and weight draining slowly). This process is not onlyinconvenient, but may lead to injuries, such as back injuries, sincelifting from a bent over position (and lifting weight disposed beneathand in front of your feet) may be unnatural. Alternatively, an end usermay try to bend over the edge of the pool and manipulate the poolcleaner so the end user can access a top loading filter while the poolcleaner is in the pool; however, it is difficult to hold the poolcleaner in an unnatural position (e.g., a position that the pool cleanerwill naturally tend to move away from due to its buoyancy and/orgeometry) while also servicing the filter. Moreover, a misstep mayinjure the end user, cause the user to fall into the pool (potentiallywith interior electronics exposed) and/or damage the pool cleaner.

In view of these issues, at least some pool cleaners include a frontloading filter that is accessible when the pool cleaner is disposed atthe water line; however, since it is difficult to hold the pool cleanerat the water line while also servicing the filter, these solutions arestill difficult to service without an expensive and bulky housing orgarage that holds the pool cleaner at the water line. Moreover, ahousing or garage disposed at the water line (or any other such deviceleft at the pool edge) may be dangerous to swimmers not expecting toencounter objects on the pool edge while jumping in, turning underwater,or otherwise moving near the pool edge. Housings and garages (or anyother such device left at the pool edge) may also be undesirable in atleast some pool environments because these devices may provide anunpleasing aesthetic element in a pool environment.

In view of the foregoing, a pool cleaner that includes features that canselectively secure the pool cleaner to a pool edge so that the poolcleaner's filter can be serviced without removing the entire poolcleaner from the pool is desired. It is also desirable to provide thesefeatures in a sleek (e.g., aesthetically pleasing) and/or relativelyinexpensive manner, without otherwise impacting cleaning operations ofthe pool cleaner.

SUMMARY

The present invention relates to an autonomous pool cleaner with a mainbody, a filter that is removably coupled to the main body, and an edgeengagement assembly. The main body includes a top, a bottom, and one ormore peripheral walls that extend between the top and the bottom. Thefilter is accessible for removal or installation via a particularperipheral wall of the one or more peripheral walls. The edge engagementassembly is configured to extend beyond the particular peripheral wallof the main body and removably secure the autonomous pool cleaner to anedge of a swimming pool so that the filter is accessible and verticallyremovable when the autonomous pool cleaner is secured to the edge.

According to another embodiment, an autonomous pool cleaner presentedherein includes a main body, a filter, an edge engagement assembly, andonboard control system. The main body top, a bottom, and one or moreperipheral walls that extend between the top and the bottom. The filteris removably coupled to the main body and accessible for removal orinstallation via a particular peripheral wall of the one or moreperipheral walls. The edge engagement assembly is configured to extendto extend beyond the particular peripheral wall and selectively securethe autonomous pool cleaner to an edge of a pool. The onboard controlsystem is configured to deploy the edge engagement assembly when theparticular peripheral wall is disposed at a water line of the pool andadjacent the edge. Deploying the edge engagement assembly secures theautonomous pool to the edge of the pool in a position where the filteris accessible by an end user standing on the edge.

According to yet another embodiment, the present invention relates to amethod for operating an autonomous pool cleaner. The method includesdetermining that a cleaning operation performed by an autonomous poolcleaner with a filter that is removable from a peripheral wall of thepool cleaner has or should be terminated. Based on the determining, theautonomous pool cleaner is caused to climb a wall towards a water lineof a pool. Upon reaching the water line, the autonomous pool cleaner issecured to a pool edge with an edge engagement assembly in a positionwhere the filter is accessible from the pool edge.

Due at least to the aforementioned features, the present inventionavoids problems associated with servicing many known pool cleaners. Forexample, the pool cleaner need not be removed from the pool to changethe filter and, thus, injuries associated with lifting a waterloggedpool cleaner from a pool might be avoided. Similarly, the pool cleanerneed not be manipulated or held in place at the water line which mayalso reduce or eliminate risks associated with such activities (e.g.,risks of falling into the pool, damaging the pool cleaner, or the enduser injuring themselves).

Moreover, since the pool cleaner presented herein includes its own edgeengagement assembly, accessories that rest in or around a pool need notbe utilized. This may reduce or eliminate costs (including installationand maintenance costs) associated with techniques or devices thatextract a pool cleaner from a pool. For example, various lifts, cranes,garages, ladders, etc. need not be installed onto a pool edge orotherwise utilized. This may also improve the cleanliness, safety,and/or aesthetic of a pool. For instance, since various accessories canbe removed from (or never installed on) the edge of a pool, the poolcleaner presented herein reduces or eliminates trip hazards (e.g.,ladders or garage supports) on the pool edge, thereby improving safety.As another example, hosts for debris and/or algae (e.g., garages thatare disposed at least partially in the water) can be removed from (ornever installed in) the pool, thereby increasing the cleanliness (andpossibly the safety) of the pool. Removing these accessories from thepool and/or pool edge may also improve the aesthetic of the pool.Notably, since the edge engagement assembly extends when the poolcleaner reaches the water line (and is otherwise retracted into or intoalignment with the pool cleaner), the pool cleaner provided hereinprovides these advantages without impacting cleaning operations of thepool cleaner.

BRIEF DESCRIPTION OF THE DRAWINGS

To complete the description and in order to provide for a betterunderstanding of the present invention, a set of drawings is provided.The drawings form an integral part of the description and illustrate anembodiment of the present invention, which should not be interpreted asrestricting the scope of the invention, but just as an example of howthe invention can be carried out. The drawings comprise the followingfigures:

FIGS. 1A and 1B are top perspective views of an autonomous pool cleanerincluding a filter and an edge engagement assembly, according to anexemplary embodiment of the present invention, the filter being fullyinstalled in FIG. 1A and partially removed in FIG. 1B.

FIG. 2 is a front perspective view of the filter included in theautonomous pool cleaner of FIGS. 1A and 1B.

FIG. 3 is a sectional view of the autonomous pool cleaner of FIGS. 1Aand 1B taken along line A-A of FIG. 1A.

FIG. 4 is a top perspective view of the autonomous pool cleaner of FIGS.1A and 1B that illustrates an edge engagement assembly in a partiallydeployed positioned, according to an example embodiment.

FIGS. 5A and 5B are top and side perspective views, respectively, of theautonomous pool cleaner of FIGS. 1A and 1B at a water line of a pool,prior to deploying its edge engagement assembly.

FIGS. 6A and 6B are top and side perspective views, respectively, of theautonomous pool cleaner of FIGS. 1A and 1B at the water line of the poolwith its edge engagement assembly partially deployed.

FIGS. 7A and 7B are top and side perspective views, respectively, of theautonomous pool cleaner of FIGS. 1A and 1B at the water line of the poolwith its edge engagement assembly fully deployed.

FIGS. 8A and 8B are additional top and side perspective views,respectively, of the autonomous pool cleaner of FIGS. 1A and 1B at thewater line of the pool with its edge securing features fully deployed,but now with the filter partially removed.

FIG. 9 is a high-level flow chart depicting the operations illustratedin FIGS. 5A, 5B, 6A, 6B, 7A, 7B, 8A, and 8B.

Like numerals identify like components throughout the figures.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense but isgiven solely for the purpose of describing the broad principles of thepresent invention. Embodiments of the present invention will bedescribed by way of example, with reference to the above-mentioneddrawings showing elements and results according to the presentinvention.

Generally, the autonomous pool cleaner presented herein includes afilter that is installable and removable via a peripheral wall of thepool cleaner and an edge engagement assembly that allows the autonomouspool cleaner to secure itself to an edge of a pool. That is, theautonomous pool cleaner (which may be interchangeably referred to hereinas a pool cleaner, an autonomous pool cleaner, a pool cleaning robot,and other such variations) can clip or secure itself to an edge of apool when the pool cleaner reaches the water line.

In at least some embodiments, the filter is accessible when the poolcleaner is secured to the edge of the pool because it is at the front ofthe pool cleaner and the front of the pool cleaner is disposed at thewater line when the pool cleaner is secured to the pool edge, insofar asthe front is the side of the autonomous pool cleaner that isperpendicular to sides, perpendicular to wheels/tracks included on thepool cleaner, and/or parallel to axles extending through the poolcleaner. However, in other embodiments, the filter may be accessiblefrom any peripheral wall of the pool cleaner and the pool cleaner may beconfigured to orient a particular peripheral wall of the pool cleanerwith the water line prior to securing the pool cleaner to the edge(e.g., the particular peripheral wall may be oriented with the waterline when or as the pool cleaner reaches the water line). Consequently,a user need not remove the autonomous pool cleaner from the water orhold the pool cleaner at the water line to service the filter. Moreover,the end user need not install or place a garage, housing, or any othersuch device in the pool or on the pool edge/pool deck that might changethe aesthetic of the pool, collect debris/algae/etc., create a trippinghazard or otherwise negatively impact a pool.

In at least some embodiments, the edge securing assembly presentedherein is or includes extendable arms (or retractable, when viewed froma different perspective). The extendable arms may be disposed within theperiphery (e.g., length and/or width) of the autonomous pool cleanerduring cleaning operations and may extend beyond the periphery (e.g.,length) of the autonomous pool cleaner at the cessation of cleaningoperations to secure the autonomous pool cleaner to the edge of a pool.Thus, the extendable arms will not interfere with cleaning operations ofthe autonomous pool cleaner. For example, the extendable arms will notimpact steering or debris dislodgement operations of the autonomous poolcleaner. That is, the autonomous pool cleaner may steer or dislodgedebris in accordance with its normal operations and the programming orfunctionality of these components need not change to accommodate theextendable arms. Consequently, in at least some embodiments, the edgesecuring features (e.g., the extendable arms) may be easily retrofittedonto a variety of autonomous pool cleaners.

Now referring to FIGS. 1A and 1B for a high-level description of anautonomous pool cleaner 100 including a filter 200 and an edgeengagement assembly 300 according to an example embodiment of thepresent invention. The autonomous pool cleaner 100 includes a main body102 with a top 112, a bottom 114 (see FIG. 3), and peripheral walls 103that extend between the top 112 and the bottom 114. In the depictedembodiment, the peripheral walls 103 include a front 104, a back 106, afirst side 108, and a second side 110. That is, in the depictedembodiment, the main body 102 includes a front 104 and back 106 thatextend between sides 108 and 110. However, in other embodiments, theperipheral walls 103 may include any number of walls (i.e., one ormore). For example, the main body 102 may include a single, circularperipheral wall 103 so that the main body 102 is substantiallycylindrical (e.g., circular from a top plan view). Regardless, together,top 112, bottom 114 (see FIG. 3), and the one or more peripheral walls103 (e.g., front 104, back 106, side 108, and side 110 in the depictedembodiment) define an interior cavity 120.

The interior cavity 120 houses various operational components includedin the autonomous pool cleaner, such as components of a pump systemand/or drive system. For example, the interior cavity may house motorsconfigured to drive brushes 118, motor(s) 150 (see FIG. 3) to drivewheel assemblies 130 and 140 disposed on the main body 102, and/or apump 160, such as an impeller and/or propeller configured to draw fluid(e.g., water), together with any dirt or debris floating therein, intothe filter 200 (at least some of these components are described infurther detail in connection with FIG. 3). In the depicted embodiment,brushes 118 are included on the front 104 and the back 106 of the mainbody 102, adjacent the bottom 114. Each of brushes 118 may be driven orfree to rotate and may dislodge dirt and debris from surfaces of thepool while the pool cleaner is executing cleaning operations. However,brushes 118 are merely exemplary cleaning components and in otherembodiments, the autonomous pool cleaner presented herein may includeany number of brushes in any locations and/or other cleaning components(e.g., pressurized jets configured to dislodge dirt and/or debris from apool surface).

Meanwhile, in the depicted embodiment, wheel assemblies 130 and 140 areendless track wheel assemblies. That is, wheel assembly 130 and wheelassembly 140 include endless track belt 136 and endless track belt 146,respectively, that each operate by rotating around two rotatingelements, such as drive wheels, gears, drive pulleys, etc., disposed atopposite distal portions of their respective wheel assemblies 130 and140. However, in other embodiments, wheel assembly 130 and wheelassembly 140 may include any combination of drive elements, such aswheels, in any location. Regardless, wheel assemblies 130 and 140 may bepermanently coupled or removably coupled to the main body 102.

Additionally, in the depicted embodiment, wheel assembly 130 is disposedlaterally exteriorly of the first side 108 and wheel assembly 140 isdisposed laterally exteriorly of the second side 110. That is, wheelassembly 130 is permanently or removably coupled to side 108 of the mainbody and wheel assembly 140 is permanently or removably coupled to side110 of the main body 102. Consequently, wheel assembly 130 defines afirst lateral edge of the pool cleaner 100 and wheel assembly 140defines a second lateral edge of the pool cleaner 100, the secondlateral edge being opposite the first.

More specifically, in the depicted embodiment, wheel assembly 130includes a side plate 132 and wheel assembly includes a side plate 142(see FIG. 4) and these side plates 132 and 142 define the lateral edgesof the pool cleaner 100. As is explained in further detail below, insome embodiments, edge engagement assembly 300 is coupled to at leastone of side plate 132 and side plate 142 and may selectively extendtherefrom without interfering with the operations of a track belt (e.g.,track belt 136 and/or track belt 146) or other such drive elementsincluded in that wheel assembly. Consequently, and advantageously, itmay be possible to retrofit the edge engagement assembly 300 to any poolcleaner that includes wheel assemblies with side plates that definelateral edges of the pool cleaner without disassembling the poolcleaner. That being said, it may also be possible to retrofit the edgeengagement assembly 300 to any pool cleaner with a main body that hasexposed sides or any other suitable fixed lateral surface. In FIGS. 1Aand 1B, the edge engagement assembly is in a non-deployed position P1(which may also be referred to as a first position, a non-deployedconfiguration, or a first configuration).

Still referring to FIGS. 1A and 1B, in the depicted embodiment, thefront 104 of the main body 102 is a portion of the main body 102 thatextends between and is perpendicular to sides 108 and 110. That is, thefront 104 is a peripheral wall 103 that extends between (and isperpendicular to) the lateral edges of the main body 102. From anotherperspective, the front 104 is a peripheral wall 103 that is parallel tothe axes around which wheel assemblies 130 and 140 rotate and is definedas the leading surface of the main body 102 when wheel assembly 130 andwheel assembly 140 rotate “forwards.”

However, in other embodiments, the front 104 may be defined in anymanner. For example, if the pool cleaner 100 has a main body 102 that issubstantially circular, spherical, or cylindrical, the front may be aportion of the main body which is perpendicular to and disposedforwardly of wheel assemblies included therein. Additionally oralternatively, the front 104 may be a portion of the main body 102defined as the front by logic in a computing device controlling the poolcleaner 100 (e.g., onboard control system 165 shown in FIG. 3).

Still referring to FIGS. 1A and 1B, but now with an emphasis on FIG. 1B,the interior cavity 120 can also receive and support a filter 200 thatcan be installed, removed, or accessed via one of the peripheral walls103 of the main body 102. In the depicted embodiment, the filter 200 canbe installed via the front 104, in an upper section 121 of the interiorcavity 120 (rails or supports 122 delineate the upper section 121 andsupport the filter 200 in the upper section 121, as is shown anddescribed in connection with FIG. 3). However, this is merely anexample, and it is to be understood that in various embodiments thefilter 200 can be installed into the interior cavity 120 (or, morespecifically, the upper section 121 of interior cavity 120) via anyperipheral wall(s) 103, including a side and/or a back of the main body102. That being said, for simplicity, the filter 200 is largelydescribed herein in connection with a front-loading filter (e.g., afilter that is installable and removable via front 104) with theunderstanding that the front 104 is merely representative of aparticular peripheral wall 103.

For example, in the depicted embodiment, the front 104 includes an openupper section 105 and the top 112 includes openings 113 that provideaccess (both physical and optical access) to the upper section 121 ofthe interior cavity 120. Openings 113 may generally map to the shape ofthe filter 200; however, the openings 113 in the top 112 may be at leastslightly smaller than top dimensions of the filter 200 so that thefilter is vertically restrained between the rails 122 (see FIG. 3) andthe top 112 when disposed within the upper section 121. That is, the top112 may overhang portions of the filter 200 so that the filter 200 canbe seen via the openings 113 but is not removable or installable throughopenings 113. In other embodiments, the openings 113 can be any size orshape that retains the filter 200 in the upper section 121;alternatively, the top 112 need not include openings 113. By comparison,opening 105 (which is shown in the front 104, but may be provided on anyperipheral wall 103) may be sized to allow the filter 200 to be slidablyinstalled or removed from the upper section 121 of the interior cavity120 so that the filter 200 is a front-loading filter.

As can be seen in FIGS. 1A and 1B, during installation of the depictedembodiment, portions of the filter 200 (e.g., flanges 232, as shown inFIG. 2) slide past opposite sides of a pump 160 and an outlet 170included in the pool cleaner 100 until an arcuate section (section 221,as is shown in FIG. 2) wraps around a third side of the pump 160 and theoutlet 170, which may enhance the flow of water through the pool cleaner100 (and through the filter 200). A user may effectuate thisinstallation by pushing on a handle 270 included at a front end of thefilter 200. That is, a user can install the filter 200 into the poolcleaner 100 by sliding the filter 200 through an opening included in ordefined by one or more peripheral walls 103 (i.e., an opening definedbetween the top 112 and bottom 114 of the main body 102). Duringremoval, the user may actuate (e.g., press) a lock mechanism 272included on the handle 270 and pull the filter 200, via the handle 270,out of the upper section 121 of the interior cavity 120 of the poolcleaner 100.

Now turning to FIG. 2, at a high-level, the filter 200 includes a mainbody 202 and a handle 270. The main body 202 extends from a front 210 toa back 220. In the depicted embodiment, the front 210 and back 220 aresubstantially aligned with the front 104 and back 106 of the main body102 when the filter 200 is installed therein; however, even if thefilter is a side-loading filter (or loads in some other manner), thefront 210 of the filter may still be described herein as the side whichis accessible by an end-user, regardless of the part of the pool cleanerfrom which it is accessible. That is, if the filter is installable andremovable from a side of the pool cleaner 100, the edge/side of thefilter 200 aligned with the side may be referred to herein as front 210.

In the depicted embodiment, the back 220 is defined by flanges 232,which are connected by an arcuate section 221, but separated by aU-shaped cavity 222 extending between the arcuate section 221 and theback 220. As mentioned, the arcuate section 221 and flanges 232 may beshaped and sized to substantially wrap around a portion of the pump 160and the outlet 170 included in the pool cleaner 100. For example, thearcuate section 221 and flanges 232 may extend around approximatelythree-fourths of a circumference of the pump 160 and the outlet 170. Thefront 210 of the main body 202 is coupled to a rear surface 278 of thehandle 270 and spaced from the flanges 232 so that an ingress section230 is formed between the front 210 and the flanges 232.

In the depicted embodiment, the ingress section 230 and flanges 232collectively define a filter interior 260. That is, the ingress section230 and flanges 232 are formed by a bottom 240 and sidewalls 250 so thatthe ingress section 230 and flanges 232 define a unitary filter interior260 with an open top 262 that can be selectively closed by a filter lid280. Since the filter interior 260 collects dirt and debris drawn intothe pool cleaner 100 during cleaning operations (e.g., dirt and debrisfloating in water drawn into pool cleaner by pump 160), the filterinterior 260 needs to be periodically cleaned, emptied, or otherwiseserviced and the filter lid 280 facilitates this servicing (byselectively closing/opening the open top 262 of the filter interior260).

In the depicted embodiment, lid 280 is hingedly coupled to the back 220of the main body 202 via hinges 282. Notably, when the filter 200 isinstalled within the upper section 121 of the interior cavity 120 (ofthe pool cleaner 100), the portions of the top 112 overhanging flanges232 may ensure the lid 280 remains closed during cleaning operations.That is, top 112 may ensure that the filter interior 260 remains closed(e.g., sealed by lid 280) while installed in the pool cleaner 100.However, in other embodiments, the filter interior 260 may beselectively closed in any manner that seals the filter interior 260during cleaning operations and allows the filter interior 260 to beperiodically serviced (e.g., cleaned) when the filter 200 is removedfrom the pool cleaner 100.

Still referring to FIG. 2, but now with reference to FIG. 3 as well, inthe depicted embodiment, the sidewalls 250 (including the back 220 andthe arcuate section 221) may be or include water permeable surfaces thatallow water, but not dirt or debris to pass therethrough. That is,sidewalls 250 may be or include a sieve or filter (such as a fine meshmaterial) that allows water, but not dirt, to pass therethrough.Meanwhile, the lid 280 may be water impermeable and the bottom 240 maybe water impermeable except for an intake 242 that selectively allowswater and debris to enter the filter interior 260 (at the ingresssection 230). The intake 242 may include a biased filter, a valve, orany other such feature that substantially prevents debris from exitingthrough the intake 242. That is, intake 242 may be or include a one-wayvalve. Regardless, the intake 242 may be fluidly coupled to an exteriorsurface of the pool cleaner via an inlet conduit 124 that extendsbetween the intake 242 and the bottom 114 of the main body 102 of thepool cleaner 100.

Thus, as the pump 160 operates, the pump 160 may draw water, dirt, anddebris (including dirt and debris loosened by brushes 118) into theingress section 230 of the filter interior 260 via intake 242 (and inletconduit 124), as is shown by flow F1. Once water, dirt, and debrisenters the filter interior 260, the pump 160 will cause the dirt anddebris to swirl through the ingress section 230 and/or flanges 232, asis shown by flow F2. The pump 160 will also cause the water to swirlthrough the filter interior 260; however, eventually water will exitthrough the sidewalls 250 (e.g., through arcuate section 221) and exitthe pool cleaner 100 via outlet 170, as is shown by flow F3. That is,the pump 160 will draw water, dirt, and debris into filter 200 andfilter 200 will capture dirt and debris while expelling water inaccordance with filtering techniques now known or developed hereafter.

Still referring to FIGS. 2 and 3, but now with an emphasis on FIG. 3, asmentioned, in the depicted embodiment the pool cleaner 100 generallysupports the filter 200 in an upper section 121 of the interior cavity120. To effectuate this, the interior cavity 120 includes rails 122 thatsupport the filter 200 in the upper section 121 while allowing thefilter 200 to slide in a front-to-back direction during insertion orremoval of the filter 200 from the interior cavity 120. As was alsomentioned above, in at least some embodiments, the filter 200 includes alock mechanism 272 that selectively prevents the filter 200 from slidingin a front-to-back direction on rails 122.

Generally, the lock mechanism 272 may be any mechanism that selectivelysecures the filter 200 within the interior cavity 120 (or morespecifically, the upper section 121 of the interior cavity 120).However, as one example, the lock mechanism 272 may be a detent thatengages a rail 122 disposed adjacent the front 104 of the main body whenthe filter 200 is fully installed into the interior cavity 120. Thus,the filter 200 may automatically lock within the interior cavity 120when fully installed therein. Then, to disengage the detent from theforward most rail 122, a user can actuate the lock mechanism 272 todisengage the detent. As another example, the lock mechanism 272 couldbe electrically actuated and controlled by a computing devicecontrolling operations of the pool cleaner 100, such as the onboardcontrol system 165, so that, for example, the filter 200 is onlyremovable from the interior cavity 120 when the computing device (e.g.,onboard control system 165) sets the pool cleaner to a servicing mode,determines the pool cleaner 100 is at a water line of the pool, and/ordetermines the edge engagement assembly 300 is engaged with a pool edge.

In addition to or as an alternative to the lock mechanism 272, the mainbody 102 may include filter posts 126 that engage the back 220 toselectively secure the filter 200 in the interior cavity 160 when thefilter 200 is full installed in the interior cavity. In someembodiments, the filter posts 126 may be spring biased to cause thefilter 200 to eject (at least partially) from the interior cavity inresponse to actuation of the lock mechanism 272 (e.g., to initiatefilter removal). This ejection (or at least partial ejection) may movethe filter 200 forwardly with respect to the main body 102 of the poolcleaner (e.g., upwards when the pool cleaner is vertical), which maymake it easier for an end user to remove the filter 200, as is explainedin further detail below.

Turning back to FIG. 2, in the depicted embodiment, the handle 270 issubstantially hollow member with an arcuate outer wall 271 that spansthe height of the main body 202 of the filter 200 (e.g., outer wall 271extends from the open top 262 to the bottom 240). The outer wall 271includes a grip member 274 that is defined between two cavities 276. Thecavities 276 are above and below the grip member 274 and allow a user'shand to extend into the handle 270 when gripping the grip member 274.This provides the user with a handle 270 that is sturdy and easy tograsp during filter removal or installation operations. This isimportant considering that the end user will typically need to grip thehandle 270 when crouched or bent over (e.g., when in an unnaturallifting position) and when the handle is wet and disposed below theuser's feet.

Now turning to FIG. 4, this Figure illustrates one embodiment of an edgeengagement assembly 300 while in a partially deployed position P2 (whichmay also be referred to as a second position, a partially deployedconfiguration, or a second configuration). Notably, in the depictedembodiment, the edge engagement assembly 300 extends beyond front 104;however, this is merely an example. In other embodiments, the edgeengagement assembly 300 may be configured to extend beyond anyperipheral wall from which the filter is removable (and/or into whichthe filter is installable). Regardless, in the partially deployedposition P2, the engagement assembly 300 extends beyond at least one ofthe peripheral walls 103 of the main body 102 of the pool cleaner, butfeatures of the engagement assembly 300 configured to secure the poolcleaner to a pool edge may not yet be deployed.

For example, in the depicted embodiment, the edge engagement assembly300 includes two extendable arms: a first arm 310 and a second arm 340.The first arm 310 is coupled to a first lateral edge of the main body102 and the second arm 340 is coupled to a second lateral edge of themain body 102, opposite the first lateral edge. That is, the first arm310 is coupled to the side plate 132 of the first wheel assembly 130 andthe second arm 340 is coupled to the side plate 142 of the second wheelassembly 140. Each arm includes two segments that are rotatably coupledtogether. Extending the first segments partially deploys the first arm310 and the second arm 340 and extending the second segments fullydeploys the first arm 310 and the second arm 340. These segments allowthe extendable arms to expand, incrementally or simultaneously, in afirst direction and a second direction to secure the pool cleaner 100 toan edge of a pool.

More specifically, in the depicted embodiment, the first arm 310includes a main segment 312 that extends from a proximal end 318 to adistal end 314. The proximal end 318 is coupled to the exterior sideplate 132 of wheel assembly 130 and the distal end 314 is movable beyondthe front 104 of the main body 102. In some embodiments, the proximalend 318 is fixedly coupled to the side plate 132 and the distal end 314is movable with respect to the proximal end 318 (e.g., the main segment312 may be telescopic). Additionally or alternatively, the proximal end318 may be movably coupled to the side plate 132 (e.g., via a rack andpinion arrangement) to allow the distal end 314 to move forwardly of thefront end 104 of the main body 102 (with or without expanding inrelation to the proximal end 318).

Regardless of how the main segment 312 expands (i.e., moves) beyond aperipheral wall of the pool cleaner (e.g., forwardly of the front end104 of the main body 102), the distal end 314 of the main segment 312 ispivotally coupled to a proximal end 324 of a secondary segment 322 sothat a distal end 326 of the secondary segment 322 can rotate about thedistal end 314 of the main segment 312. More specifically, in thedepicted embodiment, the proximal end 324 of the secondary segment 322and the distal end 314 of the main segment 312 are mounted on axle 316to allow pivotal movement of the secondary segment 322 about the distalend 314 of the main segment 312.

The second arm 340 is substantially similar to the first arm 310. Thatis, the second arm 340 includes a main segment 342 that extends from aproximal end 348 to a distal end 344. The proximal end 348 is coupled tothe exterior side plate 142 of wheel assembly 140 and the distal end 344is movable beyond the front 104 of the main body 102. In someembodiments, the proximal end 348 is fixedly coupled to the side plate142 and the distal end 344 is movable with respect to the proximal end348 (e.g., the main segment 342 may be telescopic). Additionally oralternatively, the proximal end 348 may be movably coupled to the sideplate 142 (e.g., via a rack and pinion arrangement) to allow the distalend 344 to move forwardly of the front end 104 of the main body 102.

Moreover, and also similar to arm 310, the distal end 344 of the mainsegment 342 (of arm 340) is pivotally coupled to a proximal end 354 of asecondary segment 352 so that a distal end 356 of the secondary segment352 can rotate about the distal end 344 of the main segment 342. Morespecifically, in the depicted embodiment, the proximal end 354 of thesecondary segment 352 and the distal end 344 of the main segment 342 aremounted on axle 346 to allow pivotal movement of the secondary segment352 about the distal end 344 of the main segment 342.

In the depicted embodiment, secondary segments 322 and 352 are rotatableon and disposed laterally exterior of their main segments 312 and 342,respectively. However, in other embodiments, the secondary segments 322and 352 can be disposed in any position and may be movable in any mannerwith respect to their main segments 312 and 342.

Moreover, although not shown, in at least some embodiments, the firstarm 310 and second arm 340 may include motors to drive motion of themain segments 312, 342 with respect to the main body 102 of the poolcleaner and to drive motion of the secondary segments 322, 352 withrespect to the main segments 312, 342. Additionally or alternatively,the first arm 310 and second arm 340 may include linkages that translatemotion from motors included in the interior cavity 120 of the poolcleaner 100 to the secondary segments 322, 352. For example, the poolcleaner 100 may be configured to drive movement of the main segments312, 342 until the main segments 312, 342 are fully extended and, thenthe motion imparted to the main segments 312, 342 may be imparted to thesecondary segments 322, 352 via gearing and linkages formed with variousmechanical components. International Application Publication No.WO2016/196433, which is hereby incorporated by reference in itsentirety, describes at least one example embodiment in detail.

That all being said, in other embodiments, the engagement assembly 300need not include a pair of arms and may include one or more arms. Forexample, the pool cleaner 100 might include only arm 310, only arm 340,or an arm not depicted in the Figures, such as a single arm that isdisposed beneath the bottom 114 of the main body 102, atop the top 112,or any other location. In embodiments with a single arm, the single armmay be centrally located with respect to a lateral dimension of the mainbody 102 (e.g., between wheel assemblies 130 and 140 and aligned withthe pump 160 and outlet 170 in the depicted embodiment).

Still further, in yet other embodiments, the edge engagement assembly300 need not include an extendable arm and can include any other elementor feature that can expand, rotate, and/or extend into position tocouple the pool cleaner 100 to an edge of a pool. For example, the edgeengagement assembly 300 may be or include an elastic cord (e.g., abungee cord) with a hook, grip, suction member, etc. that can be securedto an edge of the pool when the pool cleaner is water line of a pool andthe elastic cord is stretched away from the pool cleaner 100.

Moreover, regardless of how the engagement assembly 300 engages an edgeof a pool, in some embodiments, a bottom 114 of the main body 102 mayalso include various engagement elements (e.g., suction, friction,and/or surface tension elements now known or developed hereafter) thatcan supplement the engagement provided by a distal end of the edgeengagement assembly 300. That is, the bottom 114 of the main body 102may be releasably secured to a pool wall while an edge engagementassembly releasably engages a pool edge. Notably, when a majority of thepool cleaner is in the water (i.e., is disposed beneath a water line ofthe pool), the pool cleaner is relatively light and, thus, can besecured to the wall and/or edge of a pool with a relatively smallattachment force.

Now turning to FIGS. 5A, 5B, 6A, 6B, 7A, 7B, 8A, and 8B, generally,these figures depict operations of the autonomous pool cleaner presentedherein when servicing is required. In some embodiments, the autonomouspool cleaner 100 may perform these operations at the end of a cleaningcycle. Additionally or alternatively, the autonomous pool cleaner 100may interrupt a cleaning cycle to perform these operations, for example,if a fault condition (e.g., full filter) is detected during a cleaningcycle.

Regardless of why the autonomous pool cleaner 100 begins to performthese operations (which may be referred to as servicing or filterservicing operations), when the autonomous pool cleaner 100 is in a pool10 and commences servicing operations, the autonomous pool cleaner 100begins climbing a pool wall 14 (the pool cleaner 100 may detect andclimb a wall in accordance with any techniques now known or developedhereafter). In the embodiment depicted in FIGS. 5A and 5B, the poolcleaner 100 climbs the wall 14 until the front 104 is at or above awater line 12.

However, in other embodiments, the pool cleaner 10 may climb wall 14until any desirable peripheral wall 103 is disposed at or above waterline 12. Additionally or alternatively, a pool cleaner 100 may turn uponreaching the water line 12 to orient a particular peripheral wall 103with the water line 12. For example, if the filter 200 is a side-loadingfilter (e.g., installable and removable via side 110), the pool cleanermay drive forwardly up wall 14 and turn to orient the side (e.g., side110) as or after the pool cleaner reaches the water line 12.Alternatively, the pool cleaner 100 may drive up wall 14 in a zig-zagpattern, sideways, or any other manner possible with the wheelassemblies included therein until the side of the pool cleaner (and thefront of the filter) reaches the water line 12.

Since the edge engagement assembly is configured to extend beyond thesame peripheral wall that the filter is installable into/removable from,aligning the filter with the water line 12 also aligns the edgeengagement assembly 300 with the pool edge 12. That is, Once the poolcleaner 100 reaches the water line 12, the pool cleaner 100 is in aservicing position “SP.” Notably, regardless of how the pool cleanerclimbs a wall 14, the edge engagement assembly 300 remains in anon-deployed configuration P1. That is, the edge engagement assembly 300remains in a non-deployed configuration P1 until the pool cleaner 100reaches the servicing position SP (i.e., until a particular peripheralwall of the pool cleaner 100 reaches the water line 12).

In the depicted embodiment, once the pool cleaner 100 reaches theservicing position SP, the pool cleaner 100 begins to deploy its edgeengagement assembly 300, as is shown in FIGS. 6A and 6B, to secure theautonomous pool cleaner 100 to a pool edge 20, which includes coping 22in the depicted embodiment. In the depicted embodiment, the pool cleaner100 deploys the edge engagement assembly 300 automatically; however, inother embodiments, a user many manually deploy the edge engagementassembly 300 (e.g., by reaching towards the pool and pulling the edgeengagement assembly 300 upwards). Regardless, in the initial deploymentstep, arm 310 and 340 begin to extend from the lateral edges of the poolcleaner 100 (e.g., side plates 132 and 142), as can be seen in FIGS. 6Aand 6B. More specifically, the main segments 312 and 342 of arms 310 and340, respectively, extend forwardly of the front 104 of the main body102 of the pool cleaner 100.

Since the pool cleaner 100 is disposed on a pool wall 14 during thisextension, the main segments 312 and 342 extend primarily verticallyupwards (e.g., upwards along direction D1) until the arms 310 and 340are in a partially deployed position P2. Notably, in this position, thedistal ends 314 and 344 of main segments 312 and 342 are disposed abovethe edge 20, as well as a pool deck 24 extending away from the pool edge20 (the side view shown in FIG. 6B only shows arm 340, but is to beunderstood to represent arms 310 and 340). In some embodiments, mainsegments 312 and 342 may extend fully to ensure the main segments 312and 342 are disposed above the edge 20 and pool deck 24. Alternatively,although not shown, the main segments 312 and 342 may include sensorsthat allow the main segments 312 and 342 to detect the pool edge 20 andextend above the pool edge 20 (e.g., above coping 22).

In the depicted embodiment, once main segments 312 and 342 are disposedabove the edge 20 and pool deck 24, secondary segments 322 and 352rotate (or can be manually rotated) with respect to their respectivemain segment 312, 342, until secondary segments 322 and 352 move intocontact with a top of coping 22 and/or the pool deck 24, as can be seenin FIGS. 7A and 7B (the side view shown in FIG. 7B only shows arm 240,but is to be understood to represent arms 310 and 340). For example, inthe depicted embodiment, secondary segments 322 and 352 rotate in acounter-clockwise direction D2 until the secondary segments 322 and 352are engaged with the pool deck 24 and/or the coping 22 (thereby placingthe edge engagement assembly 300 in its fully deployed position P3).This engagement may secure the pool cleaner 100 to the pool edge 20 andensure that the filter 200 is accessible from the pool edge 20. In someembodiments, a bottom 358 of the secondary segment 352 (as well as abottom of secondary segment 322, which is not labeled) may include africtional pad or some other feature that increases the coefficient offriction of bottom 358 to improve the connection between the secondarysegments 322, 352 and the pool deck 24 and/or coping 22.

Still referring to FIGS. 7A and 7B, as mentioned, in some embodiments,the secondary segments 322 and 352 need not rotate after the mainsegments 312 and 342 and, instead or in addition, may rotate as the mainsegments 312 and 342 extend. Moreover, in some embodiments, aftermovement of the secondary segments 322 and 352, the main segments mayretract or otherwise move downwards to increase the friction between thesecondary segments 322 and 352 and the pool deck 24 and/or coping 22.Additionally or alternatively, this movement may move the pool cleaner100 upwards, moving the front end 104 (or any other peripheral wall 103from which the filter is removable) further above the water line 102.Still further, in some embodiments, secondary segments 322 and 352 neednot rotate in direction D2 and, in fact, need not rotate with respect totheir main segments 312 and 342 at all. Instead, the segments 322 and352 can move in any manner with respect to their respective mainsegments 312 and 342.

Regardless of how the engagement assembly 300 engages an edge 20 of apool 10, once the engagement assembly 300 is engaged with an edge 20,the filter 200 will be accessible from the edge 20. That is, an end userstanding on the pool deck 24 and/or coping 22 can simply lean over thepool edge 20, actuate a lock mechanism 272, and grasp the filter 200(e.g., via handle 270) to remove the filter 200 from the pool cleaner100. The end user need not pull the entire pool cleaner 100 from thepool 10, need not hold or manipulate the pool cleaner 100 at the waterline 12, nor otherwise attempt a physically demanding maneuver whileleaning over the pool edge 20. In the depicted embodiment, the filter200 is removable from the front 104; however, as mentioned, in otherembodiments, the filter may be removable (and installable) via anyperipheral wall and the edge engagement assembly 300 will still positionthe filter 200 in a location where the end user can remove the filter200 without removing the pool cleaner from the pool or otherwiseattempting a physically demanding maneuver while leaning over the pooledge 20.

Moreover, and now referring back to FIG. 2, in the depicted embodiment,the hinges 282 on the filter lid 280 are disposed at the back 220 of themain body 200 (which is disposed at the bottom of the pool cleaner 100when the pool cleaner is in servicing position SP). Consequently, theback 220 of the main body 202 of the filter 200 (which, due to gravity,may be holding any collected dirt and debris) will remain closed untilthe filter 200 is completely removed from the pool cleaner 100. Sincethe back 220 serves as the bottom of the filter 200 during filterremoval, it is important that the lid 280 remains sealed to the back 220to prevent dirt and debris from escaping the filter 200 during removalof the filter 200. The top 112 of the main body 102 will prevent the lid280 from rotating around hinges 282 until the hinges 282 are removedfrom the interior cavity 120 (e.g., above the top during removaloperations).

Once the filter 200 is completely removed from the pool cleaner 100, anend user can open the lid 280 and service (e.g., clean) the filter 200.After servicing, the end user can reinstall the filter 200 by slidingthe filter 200 downwards into upper section 121 of the interior cavity120 of the pool cleaner 100 (along rails 122, as shown in FIG. 3). Insome embodiments, the lock mechanism 272 may automatically reengage whenthe filter 200 is fully reinserted into the upper section 121.Alternatively, a user may need to actuate the lock mechanism 272 to lockthe filter 200 into the upper section 121 and complete the installationof the filter 200. Regardless, once the filter 200 is installed (orreinstalled) in the pool cleaner 100, the pool cleaner 100 may completethe operations shown in FIGS. 5A, 5B, 6A, 6B, 7A, and 7B in reverse.That is, the pool cleaner 100 may retract arms 310 and 340 (for example,by first rotating secondary segments 322 and 352 and then retractingmain segments 312 and 342) and then drive back down wall 14. Notably,when the pool cleaner 100 finishes a service and drives back down wall14, no accessories or parts are left at the pool edge 20 or on the pooldeck 24. Consequently, neither the pool cleaner 100 nor accessoriesassociated therewith create a tripping hazard at the pool edge 20,change the aesthetic of the pool 10, or add an element to the pool 10that might collect debris and dirt or facilitate algae growth.

FIG. 9 illustrates a high-level flow chart of the operations depicted in5A, 5B, 6A, 6B, 7A, 7B, 8A, and 8B. These operations may be controlledby a computing device (e.g., the onboard control system 265 shown inFIG. 3) included in the pool cleaner 100, a control system included in apower supply associated with the pool cleaner, and/or other computingdevice operatively connected to the pool cleaner 100. For example, aprocessor in the pool cleaner and/or a processor in a power supplyconnected to the pool cleaner may execute instructions stored in memoryto execute the operations illustrated in FIG. 9. That being said, forsimplicity, the operations depicted in FIG. 9 are described as beingexecuted by onboard control system 265 with the understanding that thisis merely one example. The operations are also described with referenceto various components and features shown and described in any of theFigures preceding FIG. 9.

Initially, at 910, the onboard control system 265 causes the poolcleaner 100 to conduct cleaning operations in pool 10 in accordance withany cleaning techniques now known or developed hereafter (e.g.,wall-to-wall cleaning, radial cleaning, sensor-based cleaning, etc.).Eventually, the onboard control system 265 determines, at 912, that thecleaning operations has or should be terminated. For example, if acleaning operation is complete or a fault (such as the filter beingfull) is detected, the onboard control system 265 may determine thatcleaning operations have or should be terminated, respectively. Uponcessation of cleaning operations (i.e., when the cleaning operationshave terminated), the onboard control system 265 causes the pool cleaner100 to climb wall 14, towards the water line 12 of pool 10. The poolcleaner 100 can climb towards the water line 12 based on feedback fromone or more sensors included in pool cleaner 100 and operatively coupledto the onboard control system 265 (e.g., one or more accelerometersand/or one or more gyroscopes) or based on any other technique now knowor developed hereafter.

In at least some embodiments, when the pool cleaner 100 climbs at 912,the pool cleaner 100 climbs in an orientation where the front 104 of thepool cleaner 100 is oriented towards the water line 12. That is, thefront 104 may be the leading side or edge of the pool cleaner when thepool cleaner 100 climbs wall 14 and may define a top or uppermost sideof the pool cleaner 100 while the pool cleaner is vertical on the wall14. Thus, as the pool cleaner 100 approaches the water line 12, thefront 104 of the pool cleaner 100 will reach the water line 12 first.However, as mentioned, the filter 200 need not be accessible via thefront 104 and can be accessible via any peripheral wall 103. Thus, moregenerally, the pool cleaner climbs the wall 14 in a manner that orientsthe filter 200 with the water line 12 as or after the pool cleanerreaches the water line 12.

Thus, since the filter 200 is disposed at a front 104 of the poolcleaner 100 in the depicted embodiment, the filter 200 will reach thewater line 12 first (or nearly first) and be accessible when the front104 of the pool cleaner 100 reaches the water line 12. The pool cleaner100 may detect the water line 12 based on any technique now know ordeveloped hereafter (e.g., based on sensor feedback) and when the waterline 12 is detected at 914, the onboard control system 265 deliversinstructions to motors associated with the edge engagement assembly 300to deploy the edge engagement assembly 300. When fully deployed, theedge engagement assembly 300 secures the pool cleaner 100 to an edge 20of the pool 10, as is described in detail above. Consequently, a usercan now easily access the filter 200 from the edge 20 of the pool 10.

As mentioned, in some embodiments, the filter 200 is electronicallyunlocked once the edge engagement assembly 300 has secured the poolcleaner 100 to the edge 20 of the pool 10. For example, if the edgeengagement assembly 300 is deployed and the pool cleaner 100 has beendisposed in a relatively stable position for a predetermined amount oftime (e.g., an amount of time in the range of 3-10 seconds or more), theonboard control system 265 may determine that the edge engagementassembly 300 has secured the pool cleaner 100 to the edge 20 of the pool10 and may electronically unlock (and/or at least partially eject) thefilter 200 at 916. However, in other embodiments, a user may manuallyunlock the filter 200. Consequently, the unlocking at 916 is shown indashed lines to illustrate that it is optional.

Regardless of how the filter 200 is unlocked, an unlocked filter 200 canbe removed and serviced (e.g., cleaned) by a user. After servicing iscomplete, the edge engagement assembly 300 may retract (e.g., move backto a no-deployed position P1) at 918 and resume/restart or begin newcleaning operations at 910. In at least some embodiments, the onboardcontrol system 265 determines that servicing is complete when the filter200 is reinstalled into the pool cleaner 100. In other embodiments, theonboard control system 265 determines that servicing is complete when alock mechanism associated with the pool cleaner (e.g., lock mechanism272) is locked or re-actuated.

For example, after a user finishes servicing (e.g., cleaning) the filter200, the user will replace the filter 200 (or place a new filter) intothe interior cavity 120 pool cleaner 100 (e.g., by sliding the filter200 into the interior cavity via the opening 105 in the front 104). Insome embodiments, when the onboard control system 265 detects that theback 220 of the filter 200 is properly positioned in the interior cavity120 (e.g., the back 220 is in contact with posts 126, as shown in FIG.3), the onboard control system 265 may determine that servicingoperations are complete and retract the edge engagement assembly 300.However, in other embodiments, the onboard control system 265 determinesthat servicing operations are complete and retracts the edge engagementassembly 300 when the lock mechanism 272 associated with the filter 200is actuated by filter insertion (e.g., the lock mechanism 272 engages arail 122). Regardless, once the edge engagement assembly 300 isretracted (and the filter 200 is reinstalled), the pool cleaner 100 mayresume cleaning operations (or begin new cleaning operations).

To summarize, in one form, an autonomous pool cleaner is presentedherein, the autonomous pool cleaner comprising: a main body with top, abottom, and one or more peripheral walls that extend between the top andthe bottom; a filter that is removably coupled to the main body, thefilter being accessible for removal or installation via a particularperipheral wall of the one or more peripheral walls; and an edgeengagement assembly configured to extend beyond the particularperipheral wall of the main body and removably secure the autonomouspool cleaner to an edge of a swimming pool so that the filter isaccessible and vertically removable when the autonomous pool cleaner issecured to the edge.

In another form, an autonomous pool cleaner is presented herein, theautonomous pool cleaner comprising: a main body with a top, a bottom,and one or more peripheral walls that extend between the top and thebottom; a filter that is removably coupled to the main body andaccessible for removal or installation via a particular peripheral wallof the one or more peripheral walls; an edge engagement assemblyconfigured to extend beyond the particular peripheral wall andselectively secure the autonomous pool cleaner to an edge of a pool; andan onboard control system configured to deploy the edge engagementassembly when the particular peripheral wall is disposed at a water lineof the pool and adjacent the edge, wherein deploying the edge engagementassembly secures the autonomous pool to the edge of the pool in aposition where the filter is accessible by an end user standing on theedge.

In yet another form, a method for operating an autonomous pool cleaneris presented herein, the method comprising: determining that a cleaningoperation performed by an autonomous pool cleaner with a filter that isremovable from a peripheral wall of the pool cleaner has or should beterminated; based on the determining, causing the autonomous poolcleaner to climb a wall towards a water line of a pool; and uponreaching the water line, securing the autonomous pool cleaner to a pooledge with an edge engagement assembly in a position where the filter isaccessible from the pool edge.

While the invention has been illustrated and described in detail andwith reference to specific embodiments thereof, it is nevertheless notintended to be limited to the details shown, since it will be apparentthat various modifications and structural changes may be made thereinwithout departing from the scope of the inventions and within the scopeand range of equivalents of the claims. In addition, various featuresfrom one of the embodiments may be incorporated into another of theembodiments. Accordingly, it is appropriate that the appended claims beconstrued broadly and in a manner consistent with the scope of thedisclosure as set forth in the following claims.

It is also to be understood that the pool cleaner described herein, orportions thereof may be fabricated from any suitable material orcombination of materials, such as plastic, foamed plastic, wood,cardboard, pressed paper, metal, supple natural or synthetic materialsincluding, but not limited to, cotton, elastomers, polyester, plastic,rubber, derivatives thereof, and combinations thereof. Suitable plasticsmay include high-density polyethylene (HDPE), low-density polyethylene(LDPE), polystyrene, acrylonitrile butadiene styrene (ABS),polycarbonate, polyethylene terephthalate (PET), polypropylene,ethylene-vinyl acetate (EVA), or the like. Suitable foamed plastics mayinclude expanded or extruded polystyrene, expanded or extrudedpolypropylene, EVA foam, derivatives thereof, and combinations thereof.

Finally, it is intended that the present invention cover themodifications and variations of this invention that come within thescope of the appended claims and their equivalents. For example, it isto be understood that terms such as “left,” “right,” “top,” “bottom,”“front,” “rear,” “side,” “height,” “length,” “width,” “upper,” “lower,”“interior,” “exterior,” “inner,” “outer” and the like as may be usedherein, merely describe points of reference and do not limit the presentinvention to any particular orientation or configuration. Further, theterm “exemplary” is used herein to describe an example or illustration.Any embodiment described herein as exemplary is not to be construed as apreferred or advantageous embodiment, but rather as one example orillustration of a possible embodiment of the invention.

Similarly, when used herein, the term “comprises” and its derivations(such as “comprising”, etc.) should not be understood in an excludingsense, that is, these terms should not be interpreted as excluding thepossibility that what is described and defined may include furtherelements, steps, etc. Meanwhile, when used herein, the term“approximately” and terms of its family (such as “approximate”, etc.)should be understood as indicating values very near to those whichaccompany the aforementioned term. That is to say, a deviation withinreasonable limits from an exact value should be accepted, because askilled person in the art will understand that such a deviation from thevalues indicated is inevitable due to measurement inaccuracies, etc. Thesame applies to the terms “about” and “around” and “substantially”.

1.-20. (canceled)
 21. An autonomous pool cleaner, comprising: a mainbody with a top, a bottom, and one or more peripheral walls that extendbetween the top and the bottom; and a filter that is removably coupledto the main body, the filter being accessible for removal orinstallation via a particular peripheral wall of the one or moreperipheral walls; and wherein the particular peripheral wall is a frontof the main body, so that the filter is accessible via the front of themain body.